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IhorNehrutsaIhorNehrutsa
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esp32/machine.pwm: Add debugging messages.
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‎ports/esp32/machine_pwm.c

Lines changed: 33 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -35,8 +35,7 @@
3535
#include "driver/ledc.h"
3636
#include "esp_err.h"
3737

38-
#define DBG(...)
39-
// #define DBG(...) mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, "\n");
38+
#define DBG_LEVEL -1 // See py/mpprint.h
4039

4140
// Total number of channels
4241
#define PWM_CHANNEL_MAX (LEDC_SPEED_MODE_MAX * LEDC_CHANNEL_MAX)
@@ -74,26 +73,26 @@ STATIC ledc_timer_config_t timers[PWM_TIMER_MAX];
7473

7574
// 10-bit resolution (compatible with esp8266 PWM)
7675
#define PWRES (LEDC_TIMER_10_BIT)
77-
// maximum duty value on 10-bit resolution
76+
// Maximum duty value on 10-bit resolution
7877
#define MAX_DUTY_U10 ((1 << PWRES) - 1)
7978
// https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/ledc.html#supported-range-of-frequency-and-duty-resolutions
8079
// duty() uses 10-bit resolution or less
8180
// duty_u16() and duty_ns() use 16-bit resolution or less
8281

83-
// possible highest resolution in device
82+
// Possible highest resolution in device
8483
#if CONFIG_IDF_TARGET_ESP32
85-
#define HIGHEST_PWM_RES (LEDC_TIMER_16_BIT) // 20 in fact, but 16 is used
84+
#define HIGHEST_PWM_RES (LEDC_TIMER_16_BIT) // 20 bit in fact, but 16 bit is used
8685
#else
8786
#define HIGHEST_PWM_RES (LEDC_TIMER_14_BIT)
8887
#endif
89-
// duty resolution of user interface in `duty_u16()` and `duty_u16` parameter in constructor/initializer
88+
// Duty resolution of user interface in `duty_u16()` and `duty_u16` parameter in constructor/initializer
9089
#define UI_RES_16_BIT (16)
91-
// maximum duty value on highest resolution
90+
// Maximum duty value on highest user interface resolution
9291
#define UI_MAX_DUTY ((1 << UI_RES_16_BIT) - 1)
93-
// how much to shift from the HIGHEST_PWM_RES duty resolution to the user interface duty resolution UI_RES_16_BIT
92+
// How much to shift from the HIGHEST_PWM_RES duty resolution to the user interface duty resolution UI_RES_16_BIT
9493
#define UI_RES_SHIFT (16 - HIGHEST_PWM_RES) // 0 for ESP32, 2 for S2, S3, C3
9594

96-
// If the PWM frequency is less than EMPIRIC_FREQ, then LEDC_REF_CLK_HZ(1 MHz) is used, else LEDC_APB_CLK_HZ(80 MHz) is used
95+
// If the PWM frequency is less than EMPIRIC_FREQ, then LEDC_REF_CLK_HZ(1 MHz) source is used, else LEDC_APB_CLK_HZ(80 MHz) source is used
9796
#define EMPIRIC_FREQ (10) // Hz
9897

9998
// Config of timer upon which we run all PWM'ed GPIO pins
@@ -108,9 +107,9 @@ typedef struct _machine_pwm_obj_t {
108107
int channel;
109108
int timer;
110109
int duty_x; // PWRES if duty(), HIGHEST_PWM_RES if duty_u16(), -HIGHEST_PWM_RES if duty_ns()
111-
int duty_u10;
112-
int duty_u16;
113-
int duty_ns;
110+
int duty_u10; // stored values from previous duty setters
111+
int duty_u16; // - / -
112+
int duty_ns; // - / -
114113
} machine_pwm_obj_t;
115114

116115
STATIC void pwm_init(void) {
@@ -128,12 +127,12 @@ STATIC void pwm_init(void) {
128127
timers[i].freq_hz = -1;
129128
timers[i].speed_mode = TIMER_IDX_TO_MODE(i);
130129
timers[i].timer_num = TIMER_IDX_TO_TIMER(i);
131-
timers[i].clk_cfg = LEDC_AUTO_CLK;
130+
timers[i].clk_cfg = LEDC_AUTO_CLK; // will reinstall later according to the EMPIRIC_FREQ
132131
}
133132
}
134133

135134
STATIC void configure_channel(machine_pwm_obj_t *self) {
136-
DBG("configure_channel")
135+
DBG(5, "configure_channel")
137136
ledc_channel_config_t cfg = {
138137
.channel = self->channel,
139138
.duty = (1 << (timers[TIMER_IDX(self->mode, self->timer)].duty_resolution)) / 2,
@@ -155,7 +154,7 @@ STATIC void set_freq(unsigned int freq, ledc_timer_config_t *timer, machine_pwm_
155154
// Even if the timer frequency is already set,
156155
// the set_duty_x() is required to reconfigure the channel duty anyway
157156
if (freq != timer->freq_hz) {
158-
DBG("set_freq(%d)", freq)
157+
DBG(3, "set_freq(%d)", freq)
159158

160159
// Find the highest bit resolution for the requested frequency
161160
unsigned int i = LEDC_APB_CLK_HZ; // 80 MHz
@@ -201,10 +200,10 @@ STATIC void set_freq(unsigned int freq, ledc_timer_config_t *timer, machine_pwm_
201200

202201
// Set frequency
203202
esp_err_t err = ledc_timer_config(timer);
204-
DBG("ledc_timer_config")
203+
DBG(4, "ledc_timer_config")
205204
if (err != ESP_OK) {
206205
if (err == ESP_FAIL) {
207-
DBG(" (timer timer->speed_mode %d, timer->timer_num %d, timer->clk_cfg %d, timer->freq_hz %d, timer->duty_resolution %d) ", timer->speed_mode, timer->timer_num, timer->clk_cfg, timer->freq_hz, timer->duty_resolution);
206+
DBG(1, " (timer timer->speed_mode %d, timer->timer_num %d, timer->clk_cfg %d, timer->freq_hz %d, timer->duty_resolution %d) ", timer->speed_mode, timer->timer_num, timer->clk_cfg, timer->freq_hz, timer->duty_resolution);
208207
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("unreachable frequency %d"), freq);
209208
} else {
210209
check_esp_err(err);
@@ -213,7 +212,7 @@ STATIC void set_freq(unsigned int freq, ledc_timer_config_t *timer, machine_pwm_
213212
// Reset the timer if low speed
214213
if (self->mode == LEDC_LOW_SPEED_MODE) {
215214
check_esp_err(ledc_timer_rst(self->mode, self->timer));
216-
DBG("ledc_timer_rst LEDC_LOW_SPEED_MODE")
215+
DBG(4, "ledc_timer_rst LEDC_LOW_SPEED_MODE")
217216
}
218217
}
219218

@@ -236,14 +235,14 @@ STATIC int ns_to_duty(machine_pwm_obj_t *self, int ns) {
236235
} else if (duty > UI_MAX_DUTY) {
237236
duty = UI_MAX_DUTY;
238237
}
239-
// DBG(" ns_to_duty(UI_MAX_DUTY=%d freq_hz=%d duty=%d=%f <- ns=%d) ", UI_MAX_DUTY, timer.freq_hz, duty, (float)ns * UI_MAX_DUTY * timer.freq_hz / 1000000000.0, ns);
238+
// DBG(3, " ns_to_duty(UI_MAX_DUTY=%d freq_hz=%d duty=%d=%f <- ns=%d) ", UI_MAX_DUTY, timer.freq_hz, duty, (float)ns * UI_MAX_DUTY * timer.freq_hz / 1000000000.0, ns);
240239
return duty;
241240
}
242241

243242
STATIC int duty_to_ns(machine_pwm_obj_t *self, int duty) {
244243
ledc_timer_config_t timer = timers[TIMER_IDX(self->mode, self->timer)];
245244
int64_t ns = ((int64_t)duty * 1000000000LL + (int64_t)timer.freq_hz * UI_MAX_DUTY / 2) / ((int64_t)timer.freq_hz * UI_MAX_DUTY);
246-
// DBG(" duty_to_ns(UI_MAX_DUTY=%d freq_hz=%d duty=%d -> ns=%f=%d) ", UI_MAX_DUTY, timer.freq_hz, duty, (float)duty * 1000000000.0 / ((float)timer.freq_hz * UI_MAX_DUTY), ns);
245+
// DBG(3, " duty_to_ns(UI_MAX_DUTY=%d freq_hz=%d duty=%d -> ns=%f=%d) ", UI_MAX_DUTY, timer.freq_hz, duty, (float)duty * 1000000000.0 / ((float)timer.freq_hz * UI_MAX_DUTY), ns);
247246
return ns;
248247
}
249248

@@ -262,7 +261,7 @@ STATIC uint32_t get_duty_ns(machine_pwm_obj_t *self) {
262261
}
263262

264263
STATIC void set_duty_u16(machine_pwm_obj_t *self, int duty) {
265-
DBG("set_duty_u16(%d)", duty)
264+
DBG(5, "set_duty_u16(%d)", duty)
266265
if ((duty < 0) || (duty > UI_MAX_DUTY)) {
267266
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("duty_u16 must be from 0 to %d"), UI_MAX_DUTY);
268267
}
@@ -283,7 +282,7 @@ STATIC void set_duty_u16(machine_pwm_obj_t *self, int duty) {
283282
if (duty != get_duty_u16(self)) {
284283
ets_delay_us(100);
285284
if (duty != get_duty_u16(self)) {
286-
DBG(" (set_duty_u16(%u) get_duty_u16()=%u duty_resolution=%d) ", duty, get_duty_u16(self), timers[TIMER_IDX(self->mode, self->timer)].duty_resolution);
285+
DBG(2, " (set_duty_u16(%u) get_duty_u16()=%u duty_resolution=%d) ", duty, get_duty_u16(self), timers[TIMER_IDX(self->mode, self->timer)].duty_resolution);
287286
}
288287
}
289288
*/
@@ -293,7 +292,7 @@ STATIC void set_duty_u16(machine_pwm_obj_t *self, int duty) {
293292
}
294293

295294
STATIC void set_duty_u10(machine_pwm_obj_t *self, int duty) {
296-
DBG("set_duty(%d)", duty)
295+
DBG(5, "set_duty(%d)", duty)
297296
if ((duty < 0) || (duty > MAX_DUTY_U10)) {
298297
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("duty must be from 0 to %u"), MAX_DUTY_U10);
299298
}
@@ -303,7 +302,7 @@ STATIC void set_duty_u10(machine_pwm_obj_t *self, int duty) {
303302
}
304303

305304
STATIC void set_duty_ns(machine_pwm_obj_t *self, int ns) {
306-
DBG("set_duty_ns(%d)", ns)
305+
DBG(5, "set_duty_ns(%d)", ns)
307306
if ((ns < 0) || (ns > duty_to_ns(self, UI_MAX_DUTY))) {
308307
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("duty_ns must be from 0 to %d ns"), duty_to_ns(self, UI_MAX_DUTY));
309308
}
@@ -394,9 +393,10 @@ STATIC void mp_machine_pwm_print(const mp_print_t *print, mp_obj_t self_in, mp_p
394393
mp_printf(print, ")");
395394
}
396395

396+
// This called from pwm.init() method
397397
STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
398398
size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
399-
DBG("mp_machine_pwm_init_helper")
399+
DBG(5, "mp_machine_pwm_init_helper")
400400
enum { ARG_freq, ARG_duty, ARG_duty_u16, ARG_duty_ns };
401401
static const mp_arg_t allowed_args[] = {
402402
{ MP_QSTR_freq, MP_ARG_INT, {.u_int = -1} },
@@ -494,9 +494,10 @@ STATIC void mp_machine_pwm_init_helper(machine_pwm_obj_t *self,
494494
}
495495
}
496496

497+
// This called from PWM() constructor
497498
STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type,
498499
size_t n_args, size_t n_kw, const mp_obj_t *args) {
499-
DBG("mp_machine_pwm_make_new")
500+
DBG(5, "mp_machine_pwm_make_new")
500501
mp_arg_check_num(n_args, n_kw, 1, 2, true);
501502
gpio_num_t pin_id = machine_pin_get_id(args[0]);
502503

@@ -524,6 +525,7 @@ STATIC mp_obj_t mp_machine_pwm_make_new(const mp_obj_type_t *type,
524525
return MP_OBJ_FROM_PTR(self);
525526
}
526527

528+
// Deinit channel and timer if the timer is unused
527529
STATIC void pwm_deinit(int channel_idx) {
528530
// Valid channel?
529531
if ((channel_idx >= 0) && (channel_idx < PWM_CHANNEL_MAX)) {
@@ -562,6 +564,7 @@ STATIC void pwm_deinit(int channel_idx) {
562564
}
563565
}
564566

567+
// This called from pwm.deinit() method
565568
STATIC void mp_machine_pwm_deinit(machine_pwm_obj_t *self) {
566569
int channel_idx = CHANNEL_IDX(self->mode, self->channel);
567570
pwm_deinit(channel_idx);
@@ -572,6 +575,7 @@ STATIC void mp_machine_pwm_deinit(machine_pwm_obj_t *self) {
572575
self->duty_x = 0;
573576
}
574577

578+
// This called from Ctrl-D soft reboot
575579
void machine_pwms_deinit(void) {
576580
if (pwm_inited) {
577581
for (int channel_idx = 0; channel_idx < PWM_CHANNEL_MAX; ++channel_idx) {
@@ -581,6 +585,8 @@ void machine_pwms_deinit(void) {
581585
}
582586
}
583587

588+
// Set's and get's methods of PWM class
589+
584590
STATIC mp_obj_t mp_machine_pwm_freq_get(machine_pwm_obj_t *self) {
585591
return MP_OBJ_NEW_SMALL_INT(ledc_get_freq(self->mode, self->timer));
586592
}
@@ -620,7 +626,7 @@ STATIC void mp_machine_pwm_freq_set(machine_pwm_obj_t *self, mp_int_t freq) {
620626
if (!current_in_use) {
621627
// Free the old timer
622628
check_esp_err(ledc_timer_rst(self->mode, self->timer));
623-
DBG("ledc_timer_rst(%d, %d) Free", self->mode, self->timer)
629+
DBG(4, "ledc_timer_rst(%d, %d) Free", self->mode, self->timer)
624630
// Flag it unused
625631
timers[current_timer_idx].freq_hz = -1;
626632
}

‎py/mpprint.h

100644100755
Lines changed: 40 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -79,4 +79,44 @@ int mp_printf(const mp_print_t *print, const char *fmt, ...);
7979
int mp_vprintf(const mp_print_t *print, const char *fmt, va_list args);
8080
#endif
8181

82+
// Debug messages during code developing.
83+
// An approximate hierarchy of debug levels is:
84+
// -1 - SUPPRES all messages in release version
85+
// 0 - the most CRITICAL errors, often requiring a system reset, use message with this level if possible raising an exception
86+
// 1 - ERROR requiring program restart, use message with this level before raising an exception
87+
// 2 - WARNING, something went wrong, but you can fix it with additional operations in code right now
88+
// 3 - INFO, it is interesting and useful for understanding a bug
89+
// 4 - DEBUG, more detaled info, dig deeper
90+
// 5 - TRACE, show algorithm flow
91+
// In real you may use own classification of debug levels.
92+
#define DBG(level, ...) \
93+
do { \
94+
if (level <= DBG_LEVEL) { \
95+
mp_printf(MP_PYTHON_PRINTER, "%d:: ", level); \
96+
mp_printf(MP_PYTHON_PRINTER, __VA_ARGS__); \
97+
mp_printf(MP_PYTHON_PRINTER, "\n"); \
98+
} \
99+
} while(0);
100+
/*
101+
// How to use:
102+
// Set DBG_LEVEL in developed *.C or *.CPP file
103+
#define DBG_LEVEL 1000 // show all messages
104+
// Add DBG() macro in code, like
105+
void foo() {
106+
DBG(5, "Enter foo()")
107+
...
108+
int value;
109+
...
110+
// calculate value
111+
DBG(3, "See a value=%d", value)
112+
...
113+
DBG(5, "Exit foo()")
114+
}
115+
// See usage in ports/esp32/machine_pwm.c
116+
// It is not a dogma. You may start debugging from level 3.
117+
#define DBG_LEVEL 3
118+
// Then add DBG(3, ...) and when gets too much messages then change some messages to the next level DBG(4, ...), or DBG(2, ...)
119+
// Then you may change DBG_LEVEL to 2, and finally to -1.
120+
*/
121+
82122
#endif // MICROPY_INCLUDED_PY_MPPRINT_H

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